Multimedia Tools and Applications

, Volume 78, Issue 1, pp 1117–1130 | Cite as

A discriminant method of single-optical-axis omnidirectional vision system

  • Peng Tian
  • Huixian DuanEmail author


Generally, due to the instrumental error of omnidirectional camera, it is very difficult to satisfy the standard single-optical-axis request. Thus, it is necessary to evaluate whether a single-optical-axis camera lens is aligned or has tangent distortion. In this paper, we propose a discriminant function of single-optical-axis omnidirectional vision system based on checkerboard, which is only related to the image points and does not involve any camera parameters. Firstly, under single-optical-axis omnidirectional camera, the geometric invariance among image points of collinear and equidistant space points is derived. Next, based on the derived geometric invariance in a single image, we construct the object function to discriminate the standard single-optical-axis omnidirectional camera. Finally, a discriminant method of single-optical-axis omnidirectional vision system is proposed based on the checkerboard. Experimental results on both simulated and real data have demonstrated the usefulness and effectiveness of our method.


Single-optical-axis Omnidirectional vision system Cross ratio Projective invariance 



This work is sponsored by the Shanghai Rising-Star Program (17QB1401000); and by Shanghai science and technology innovation action plan(17511108200); and by the National Natural Science Foundation of China (61403084, 61402116); and by the Application Innovation Plan of Ministry of Public Security (2017YYCXSXST030).


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© Springer Science+Business Media, LLC, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Science CollegeEast China University of Science and TechnologyShanghaiChina
  2. 2.Cyber Physical System R & D CenterThe Third Research Institute of Ministry of Public SecurityShanghaiChina
  3. 3.Shanghai International Technology & Trade United Co., Ltd.ShanghaiChina
  4. 4.Shanghai Institute of Applied Physics, Chinese Academy of SciencesShanghaiChina

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